Apparatus and method for characterizing digital images

ABSTRACT

An automatic digital image characterization system has a feature extractor, including a segment processor and a feature processor. The segment processor is connected for receiving an image in the form of digitized pixel values; each pixel value having an amplitude and being associated with positional information in the form of column and row values. The feature processor converts the image information into column and row axis functions having calculated values of statistical mean amplitude and standard deviation. A system processor registers images, senses image changes, locates objects and detects hidden information.

BACKGROUND OF THE INVENTION

[0001] This invention relates to the characterization of digital images and, more particularly, to an apparatus and method for extraction of unique image features through use of statistical mathematics. Image characterization systems have long been used to determine unique features of image content, for many purposes, including image registration, image change detection, locating certain objects in images, and detecting hidden information in images. Unfortunately, such systems are slow and computationally-expensive, involving elaborate and complicated mathematical methods acting upon spatially or spectrally-derived image features. Prior art systems have evolved wherein the operator must have significant expertise in image science, and must manually adjust many parameters of the mathematical processes to achieve satisfactory image characterization for purposes such as those described above.

[0002] While prior art systems work acceptably well for certain image characterization applications, they suffer from several disadvantages including specialized operator expertise requirements, lack of effective automation, large demands upon processing resources, slow processing speeds, low-accuracy of registration, erroneous or ambiguous change detection, and erroneous or ambiguous object location, and are ineffective in reliably detecting hidden information in images.

SUMMARY OF THE INVENTION

[0003] The present invention provides an effective, statistics-based characterization technique which is computationally-simple, efficient, accurate, and fast-processing. The vertical and horizontal variations in an image are separated in order to enable the use of powerful signal processing techniques. Further, the present invention offers advantages over prior art, expert-enabled, manual systems by being usable by those not expert in image science and by being easily automated.

[0004] The invention uses an image characterization system comprising a Segment Processor coupled to an image source supplying a digital image or images to be characterized. The Segment Processor calculates sets of segment parameters of image rows and columns. The segment parameters are supplied to a Feature Processor which uses them for calculating axis functions of image rows and columns. Also included are means, coupled to the Feature Processor for performing image registration, change detection, object location, and hidden information detection.

[0005] Accordingly, it is a primary object of this invention to generate segment parameters and axis functions for efficient characterization of an image.

[0006] Other objects, features and advantages of the present invention will become apparent to those skilled in the art through the description of the preferred embodiment, claims, and drawings herein wherein like numerals refer to like elements.

BRIEF DESCRIPTION OF THE DRAWINGS

[0007]FIG. 1 is a block diagram of apparatus for registering or detecting changes between a pair of digital images, or for locating objects or detecting hidden information in images.

[0008]FIG. 2 is a sketch of typical image signal variations which may occur in either the “column” or the “row” of a digital image.

[0009]FIG. 3 illustrates a typical image which may be characterized in accordance with this invention.

[0010]FIG. 4 illustrates typical image amplitude values for an entire row of pixels.

[0011]FIG. 5 illustrates typical values for a Row Amplitude Mean Axis Function and for a Column Amplitude Mean Axis Function, both sets of values being plotted on the same graphical axis.

[0012]FIG. 6 illustrates the effect of target objects upon a change coefficient generated for an image including a plurality of such targets.

[0013]FIG. 7 illustrates the effect produced upon an object location coefficient by moving a target object from one image pane to another.

[0014]FIG. 8 is a flow chart illustrating the detection of hidden information in accordance with the invention.

DESCRIPTION OF THE PREFERRED EMBODIMENT

[0015] This invention provides an apparatus and a method for characterizing images. Viewed in the abstract, image characterization involves extraction of a quantifiable feature from the image. Upon quantification, the extracted feature can be used for identification of the overall image or something within the image. Most frequently, however, the interest in characterization arises from a desire to compare an unknown feature in a sample image with a known feature in a reference image. By way of example, FIG. 1 illustrates an image characterization system 999 comprising two feature extractors 10 a and 10 b operating in synchronism to extract a corresponding feature from a pair of images A and B, stored in image databases or stores 12 a and 12 b respectively. Images A and B each comprise digitized amplitude values for a two-dimensional array of image pixels organized into N rows and M columns, as generally illustrated in FIG. 1. These amplitude values are transmitted as data streams 110 a, 110 b to feature extractors 10 a, 10 b, respectively.

[0016] Data streams 110 a, 110 b are in digital format, having a series of amplitudes which may correspond to variations in an amplitude line 50 (See FIG. 2). Feature extractors 10 a and 10 b are of like construction, comprising Segment Processors 200 a, 200 b and Feature Processors 300 a, 300 b, as illustrated in FIG. 1. Segment Processors 200 a, 200 b receive amplitude values for all picture elements (pixels) in digital images A and B, indexed by row number and column number. The amplitude values may be produced by any digital processor (not illustrated) capable of storing digital image information and downloading it in a format compatible with feature extractors 10 a, 10 b.

[0017] Segment Processors 200 a, 200 b organize each column of pixel amplitudes, downloaded from image stores 12 a, 12 b, into an individual data series indexed by row number (1 to N), and determine each instance in each series where the amplitude data exhibits a local maximum or minimum. Segment Processors 200 a, 200 b also organize each row of pixel amplitudes downloaded from image stores 12 a, 12 b into an individual data series indexed by column number (1 to M), and determine each instance in each series where the amplitude data exhibits a local maximum or minimum.

[0018] By way of example, FIG. 2 illustrates amplitude values and index values for a sequence of pixels 50 arranged side-by-side in either a row or a column. The sequence 50 comprises a sequential series of segments 75 situated between pixel-pairs, such as pixel-pairs (51, 52), (52, 53) and (53, 54), located at consecutive amplitude maxima/minima. As used herein, the term “segment” means all of the pixels between two such consecutive maxima/minima in either a column or a row of a digital image A or B. Pixel amplitude values and index (period) values for N rows of pixels are carried on a segment-wise basis by data streams 220 a and 220 b. Pixel amplitude values and index values for M columns of pixels are carried on a segment-wise basis by data streams 210 a and 210 b Corresponding absolute differences in pixel index (period) values are carried on a segment-wise basis by data streams 240 a, 240 b, 230 a and 230 b. The Segment Processors 200 a, 200 b are able to collect their calculations to different levels of precision as an adjustable parameter. Table I summarizes the data streams generated by Segment Processors 200 a, 200 b. TABLE I Data Stream Data Type 210a, 210b Segment amplitude sets for M columns 220a, 220b Segment amplitude sets for N rows 230a, 230b Segment period sets for M columns 240a, 240b Segment period sets for N rows

[0019] The data streams set forth in Table I are routed to Feature Processors 300 a, 300 b for generation of 16 data streams 310 a, 310 b, 320 a, 320 b 330 a, 330 b, 340 a, 340 b, 350 a, 350 b, 360 a, 360 b, 370 a, 370 b, 380 a and, 380 b. These streams carry function data as tabulated in Table II. Since these functions have row/column directionality, we refer to them as axis functions. TABLE II Data Stream Axis Function 310a, 310b Mean values of segment amplitude sets in data streams 210a, 210b 320a, 320b Standard Deviations for segment data sets of streams 210a, 210b 330a, 330b Mean values of segment period sets in data streams 220a, 220b 340a, 340b Standard Deviations for segment data sets of streams 220a, 220b 350a, 350b Mean values of segment amplitude sets in data streams 230a, 230b 360a, 360b Standard Deviations for segment data sets of streams 230a, 230b 370a, 370b Mean values of segment period sets in data streams 240a, 240b 380a, 380b Standard Deviations for segment period sets in streams 240a, 240b

[0020] In accordance with the practice of this invention the image data incorporated into digital images A and B are characterized by reference to the mean values and the standard deviations, so determined. Mean values of segment amplitude sets and segment period sets may be calculated by Feature Processors 300 a, 300 b in the manner customary for reduction of statistical data. That is, a mean value of n observations is taken to be equal to the sum of the observation values divided by n. The standard deviations are determined by calculating the residuals (the differences between the observed values and the mean), squaring them, summing the squares, dividing the sum of the squares by the number of observations and calculating the square root of the quotient. The mean value and the standard deviations of n observed pixel amplitudes are calculated on a segment-wise basis so that new segments may be seamlessly appended to previously examined digital images A and B, while old image information is being simultaneously withdrawn from consideration. This permits the generation and comparison of new images on a continuous basis and minimizes data storage requirements. Additional details are provided below in connection with the description of Hidden Information Detector 700.

[0021] Still referring to FIG. 1, axis function data generated by Feature Processor 300 a are carried as data streams 310 a-380 a, from feature extractor 10 a to registration processor 400, where they are compared with axis function data carried as data streams 310 b-380 b from feature extractor 10 b, thereby generating data streams 410, 420, 430, 440 and 450. These latter data streams carry function data as listed below in Table III. TABLE III Data Stream Function 410 Image A - Image B Rotation Error 420 Image A - Image B Column Translation Error 430 Image A - Image B Row Translation Error 440 Image A - Image B Column Scaling Error 450 Image A - Image B Row Scaling Error

[0022] For ease of understanding, double reference to data streams 310 a 380 a and 310 b-380 b will be used only where necessary to distinguish between the processing of data for images A and B. Otherwise, this specification will make references more simply to appropriate ones of data streams 310-380, it being understood that references, for example, to data stream 310 will be taken to refer to either one of data streams 310 a or 310 b. A reference to data stream 320 will refer to either one of data streams 320 a or 320 b, etc. For further ease in understanding, we establish the following notations of Table IV for the axis functions carried by data streams 310, 320, 330, 340, 350, 360, 370 and 380: TABLE IV Ma(c, X) = Column amplitude mean axis function for image X, where “c” denotes a particular column (data stream 310), Da(c, X) = Column amplitude deviation axis function for image X, where “c” denotes a particular column (data stream 320), Mt(c, X) = Column period mean axis function for image X, where “c” denotes a particular column (data stream 330), Dt(c, X) = Column period deviation axis function for image X, where “c” denotes a particular column (data stream 340), Ma(r, X) = Row amplitude mean axis function for image X, where “r” denotes a particular row (data stream 350), Da(r, X) = Row amplitude deviation axis function for image X, where “r” denotes a particular row (data stream 360), Mt(r, X) = Row period mean axis function for image X, where “r” denotes a particular row (data stream 370), Dt(r, X) = Row period deviation axis function for image X, where “r” denotes a particular row (data stream 380).

[0023] Thus, the column amplitude mean axis function series (Ma(c,X)) would include 200 values, for a 200-column image (c=1 through 200), the row period mean axis function (Mt(r,X)) series would include 100 values, for a 100-row image (r=1 through 100), and so forth.

[0024]FIG. 3 illustrates a typical image 12 which may be characterized in accordance with this invention. Reference numeral 121 refers to a row of pixels having image amplitude values which may be downloaded in a data stream 110 to a Segment Processor 200. FIG. 4 illustrates typical image amplitude values for an entire row of pixels, as indicated by reference numeral 50 in FIGS. 4 and 2. FIG. 5 illustrates a series of values 123 for a corresponding Row Amplitude Mean Axis Function, Ma(r, X) and another series of values 125 for a Column Amplitude Mean Axis Function Ma(c, X).

[0025] Referring again to FIG. 1, the data streams 310 a-380 a and 310 b-380 b from Feature Processors 300 a, 300 b are applied to registration processor 400, which is functionally incorporated within a system processor 900. System processor 900 also comprises the Change Detection Processor 500, an Object Location Processor 600, and Hidden Information Detector 700. Registration Processor 400 calculates difference coefficients of three types, between like axis functions, from the two images (Image A and Image B). These coefficients are a Column Difference Coefficient, D(c), a Row Difference Coefficient, D(r), and an Aggregate Difference Coefficient, D. These difference coefficients are calculated as follows:

D(c)=[Ma(c,A)−Ma(c,B)][Da(c,A)−Da(c,B)][Mt(c,A)Mt(c,B)][Dt(c,A)−Dt(c,B)]  {Equation 1}

D(r)=[Ma(r,A)−Ma(r,B)][Da(r,A)−Da(r,B)][Mt(r,A)−Mt(r,B)][Dt(r,A)−Dt(r,B)]  {Equation 2}

[0026] The invention contemplates four variations (V1-V4) of the difference coefficient calculations.

[0027] V1: Any or all quantities in brackets [ ] may be converted to absolute values.

[0028] V2: The Image A and Image B quantities for any or all axis functions may be interchanged, for example, [Ma(c,A)−Ma(c,B)] would become [Ma(c,B)−Ma(c,A)], and so forth.

[0029] V3: Any or all of the quantities in brackets [ ] may be replaced by a value of 1.0, eliminating that particular axis function from the calculation.

[0030] V4: Any or all of the axis functions may be replaced by a normalized version of that axis function, which is calculated by dividing each value in the axis function series by the average of all values in that series.

[0031] In a second embodiment of the invention the equations for calculating the column and Row Difference Coefficients may take the form:

D(c)=K1[Ma(c,A)−Ma(c,B)]+K2[Da(c,A)−Da(c,B)]+K3[Mt(c,A)−Mt(c,B)]=K4[Dt(c,A)−Dt(c,B)]  {Equation 3}

D(r)=K5[Ma(r,A)−Ma(r,B)]+K6[Da(r,A)−Da(r,B)]+K7[Mt(r,A)−Mt(r,B)]+K8[Dt(r,A)−Dt(r,B)]  {Equation 4}

[0032] Where the quantities (K1-K8) are weighting coefficients chosen to suit a particular application of the technique

[0033] Again, there are four variations (V1-V4) on the mathematics, any or all of which may be applied, as follows:

[0034] V1: Any or all quantities in brackets [ ] may be converted to absolute values

[0035] V2: The Image A and Image B quantities for any or all axis functions may be interchanged, for example, [Ma(c,A)−Ma(c,B)] would become [Ma(c,B)−Ma(c,A)], and so forth

[0036] V3: Any or all of the quantities in brackets[ ] may be replaced by a value of 0, eliminating that particular axis function from the calculation

[0037] V4: Any or all of the axis functions may be replaced by a normalized version of that axis function, which is calculated by dividing each value in the axis function series by the average of all values in that series.

[0038] In a third embodiment of the invention the column and Row Difference Coefficients may be calculated by use of the relations:

D(c)=[Ma(c,A)/Ma(c,B)−1][Da(c,A)/Da(c,B)−1][Mt(c,A)/Mt(c,B)−1][Dt(c,A)/Dt(c,B)−1]  {Equation 5}

D(r)=[Ma(r,A)/Ma(r,B)−1][Da(r,A)/Da(r,B)−1][Mt(r,A)/Mt(r,B)−1][Dt(r,A)/Dt(r,B)−1]  {Equation 6}

[0039] Also, with this embodiment there are four variations (V1-V4) on the mathematics, any or all of which may be applied, as follows:

[0040] V1: Any or all quantities in brackets [ ] may be converted to absolute values

[0041] V2: The Image A and Image B quantities for any or all axis functions may be interchanged, for example, [Ma(c,A)/Ma(c,B)−1] would become [Ma(c,B)/Ma(c,A)−1], and so forth

[0042] V2: Any or all of the quantities in brackets [ ] may be replaced by a value of 1.0, eliminating that particular axis function from the calculation

[0043] V3: Any or all of the axis functions may be replaced by a normalized version of that axis function, which is calculated by dividing each value in the axis function series by the average of all values in that series

[0044] In a fourth embodiment of the invention a weighted sum of quotients is used in the calculation of a Column Difference Coefficient and Row Difference Coefficient calculation for two images, A and B. In that embodiment the column and row Difference Coefficients take the form:

D(c)=K1[Ma(c,A)/Ma(c,B)−1]+K2[Da(c,A)/Da(c,B)−1 ]+K3[Mt(c,A)/Mt(c,B)−1]+K4[Dt(c,A)/Dt(c,B)−1]  {Equation 7}

D(r)=K5[Ma(r,A)/Ma(r,B)−1]+K6[Da(r,A)/Da(r,B)−1 ]+K7[Mt(r,A)/Mt(r,B)−1]+K8[Dt(r,A)/Dt(r,B)−1]  {Equation 8}

[0045] Where the quantities (K1-K8) are weighting coefficients chosen to suit a particular application of the technique

[0046] Four variations (V1-V4) of this embodiment are:

[0047] V1: Any or all quantities in brackets [ ] may be converted to absolute values

[0048] V2: The Image A and Image B quantities for any or all axis functions may be interchanged, for example, [Ma(c,A)/Ma(c,B)−1] would become [Ma(c,B)/Ma(c,A)−1], and so forth

[0049] V3: Any or all of the quantities in brackets [ ] may be replaced by a value of 0, eliminating that particular axis function from the calculation

[0050] V4: Any or all of the axis functions may be replaced by a normalized version of that axis function, which is calculated by dividing each value in the axis function series by the average of all values in that series

[0051] A fifth embodiment of the invention calculates the column and Row Difference Coefficients by the equations:

D(c)=[Ma(c,A)Da(c,A)Mt(c,A)Dt(c,A)−Ma(c,B)Da(c,B)Mt(c,B)Dt(c,B)]  {Equation 9}

D(r)=[Ma(r,A)Da(r,A)Mt(r,A)Dt(r,A)−Ma(r,B)Da(r,B)Mt(r,B)Dt(r,B)]  {Equation 10

[0052] And it may be practiced in any of four variations (V1-V4) as follows:

[0053] V1: Any or all quantities in brackets [ ] may be converted to absolute values

[0054] V2: The Image A and Image B quantities for any or all axis functions may be interchanged, for example, Ma(c,A) and Ma(c,B) would appear on opposite sides of the subtraction than their present location in the equation

[0055] V3: Any or all of the quantities in brackets [ ] may be replaced by a value of 1.0, eliminating that particular axis function from the calculation

[0056] V4 Any or all of the axis functions may be replaced by a normalized version of that axis function, which is calculated by dividing each value in the axis function series by the average of all values in that series

[0057] A sixth embodiment of the invention uses correlation functions to calculate column and Row Difference Coefficients for two images, A and B:

D(c)=Correl(Ma(c,A),Ma(c,B))   {Equation 11}

D(r)=Correl(Ma(r,A),Ma(r,B))   {Equation 12}

[0058] Where

[0059] Correl(S1,S2)=[Sum((S1i−Mean(S1i))(S2i−Mean(S2i)))]/n/Sigma(S1)/Sigma(s2),

[0060] Sigma(S)=Standard Deviation of series S

[0061] It will be appreciated that other column axis functions, such as those carried by data streams 320, 330, or 340 may be substituted for column mean amplitude Similarly, other row axis functions may be substituted for row mean amplitude. Arithmetic and multiplicative combinations of the axis functions may also be employed.

[0062] The Aggregate Difference Coefficient may be established in numerous ways. By way of example, five different methods will now be described.

[0063] First Method (uses only column data)

D=D(c)   {Equation 13}

[0064] Second Method (uses only row data)

D=D(r)   {Equation 14}

[0065] Third Method (uses only product data)

D=D(c)D(r)   {Equation 15}

[0066] Fourth Method (weighted sum)

D=K1D(c)+K2 D(r)   {Equation 16}

[0067] Where the quantities (K1, K2) are weighting coefficients which are selected by the user.

[0068] The particular method for calculating the Row Difference Coefficient, the Column Difference Coefficient and the Aggregate Difference Coefficient, and the configuration of variations used within the particular method are user-selectable and will vary based on the nature of the imagery being used, and the purpose of the difference coefficients in subsequent processing (such as described below).

[0069] The registration processor 400 uses any or all of the difference coefficients as an Image A-Image B rotation error. Selection of a difference coefficient is application-dependent, and may be affected by the type of image involved. For example, it has been observed that the effect of a rotation error tends to be minimized when applied at the point of rotational alignment (registration) between the two images.

[0070] The registration processor 400 uses the Column Difference Coefficient for correcting an image column translation error and uses the Row Difference Coefficient for correcting an image row translation error. In a typical application, the translation error minimizes at the point of translational alignment (registration) between the two images, along the row or column axes.

[0071] The registration processor 400 uses the Column Difference Coefficient for correcting an image column scaling error and uses the Row Difference Coefficient for correcting an image row scaling error. In a typical application, the column and row scaling errors are proportional to the scaling ratios between the two images in directions along the column and row axes. In a typical application the numerical values of the image rotation, translation or scaling errors can be used as a guide in the selection of difference coefficients.

[0072] Still referring to FIG. 1, image A and image B may be images of substantially the same thing, observed in different spectra (e.g., visible and near-IR). It may be assumed that these two images are to be registered. This enables, among other things, a comparison of the similarities and/or differences, between the images A and B. Feature Processor 300 a provides column amplitude mean axis functions and row amplitude mean axis functions for both images. Registration processor 400 uses Equations 1 and 2 above to calculate a Column Difference Coefficient and a Row Difference Coefficient for the two images. Data for performing and updating those calculations are supplied by data streams 310 a-380 a and by data streams 310 b-380 b.

[0073] Registration processor 400 uses Equation 15 to calculate the Aggregate Difference Coefficient for the two images. In the preferred embodiment, one of the image stores 12 a or 12 b has a bias adjuster 73 which may be operated either manually or automatically to make a desired adjustment, ΔX, to the column address of its associated image and a desired adjustment ΔY to the row address thereof. These address adjustments enable intentional offsetting of image B relative to image A, so as to compensate for unavoidable registration errors therebetween. In operation, bias adjuster 73 is manipulated to produce values ΔX and ΔY which minimize the difference coefficients calculated by registration processor 400.

[0074] It will be appreciated that image difference coefficients, as described above, may be used for characterizing features other than misregistration of two similar images. For example system processor 900 may include a change detection processor 500 for processing images of a scene and detecting changes which have occurred over the course of time. This would be useful in detecting the movement of targets in a battlefield environment, for example. Change detection processor 500 may be implemented in either hardware or software. Preferably change detection processor 500 is a software module configured for being called by an executive program loaded within system processor 900. It may be linked to another similar software module functioning as registration processor 400 and may process the axis functions generated by feature extractors 10 a, 10 b for characterizing image A and image B.

[0075] Change detection processor 500 generates a Column Difference Coefficient, a Row Difference Coefficient and an Aggregate Difference Coefficient which measure differences between like axis functions of the two images. The difference coefficient processing here is identical to that which was described for the registration processing and need not be repeated. The particular means for calculating the Column Difference Coefficient, the Row Difference Coefficient and the Aggregate Difference Coefficient, and the configuration of variations used within the particular means, are user-selectable and will vary based on the nature of the imagery being used, and the purpose of the difference coefficients in subsequent processing. Change detection processor 500 uses any or all of the difference coefficients as an object change coefficient, the value of which is output as data stream 510. In a typical application the numerical value of the change coefficient indicates the magnitude and type of changes between Image A and Image B. Different combinations of means for calculating the Column Difference Coefficient, the Row Difference Coefficient and the Aggregate Difference Coefficient, may be used to tailor the process to detect different types of changes.

[0076]FIG. 6 illustrates example imagery and data for a change detection application. The figure shows two images labeled Image A and Image B. These images are arbitrarily divided into nine panes for the purpose of this example, to identify areas of change. Pane nos. 1, 2, 4, 5, 8 and 9 are the same in both images. It should be understood that more or fewer panes could be used. However panes 3, 6 and 7 are different. Truck-like objects have been introduced into panes 3, 6 and 7 of Image B. No such objects are present in Image A in either of panes 3, 6 or 7. Feature Processors 300 a, 300 b provide column and row axis function information to data streams 310, 320, 330, 340, 350, 360, 370, 380 for all panes of both images. Change detection processor 500 uses Equation 1 and Equation 2 (products of differences, as defined above) to calculate a Column Difference Coefficient, D(c), and Row Difference Coefficient, D(r), for all pairs of like-numbered panes from the two images. After those calculations have been made, change detection processor 500 uses Equation 15 (product of Column Difference Coefficient and Row Difference Coefficient) to calculate aggregate difference coefficients for all nine pane-pairs. The resulting aggregate difference coefficients are transferred to data stream 510 of FIG. 1, from which a data plot 996 of FIG. 6 may be created. As illustrated therein, the change coefficient exceeds a threshold value (set at 1.0 in this example) for panes 3, 6 and 7.

[0077] It will be understood that the data in streams 110 a, 110 b must be preprocessed for compatibility with the nine-pane, 3×3 format. This may be accomplished in many different ways. For example, image data for each image could be stored in data stores 12 a, 12 b as 2048 data bytes, each 32 bits wide. Image information then could be transferred from data stores 12 a, 12 b to data streams 110 a, 110 b as a series of 30-bit data bytes, so that each pane would comprise 100 pixels of image information, arranged in a 10×10 matrix, and each data byte would characterize three vertically arranged pixel columns, one column from each of three different panes. Many other feasible pixel arrangements will be readily apparent.

[0078] The object location processor 600 calculates a Column Difference Coefficient, D(c), a Row Difference Coefficient, D(r), and an Aggregate Difference Coefficient, D, between like-axis functions carried by streams 310, 320, 330, 340, 350, 360, 370 and 380 and the two images stored in image stores 12 a and 12 b. The calculation procedure is substantially identical to the procedure which is described above for registration processing by registration processor 400, with the exception of the method employing a correlation function. No further description thereof is necessary. Object location processor 600 uses any or all of the three resulting image difference coefficients as an object location coefficient, which is output as data stream 610. In a typical application the numerical value of the object location coefficient indicates the presence or absence of the object of the search in the searched image, where higher values for the object location coefficient indicate higher likelihoods that the object of the search exists in the searched image.

[0079] Reference is now made to FIG. 7., which shows example imagery and data for an object location application. Image A contains a source object 33. Image B is an image of an area suspected to harbor a similar object. It is assumed that Image B to be searched to locate the object of Image A. For the purposes of this example, each of these images are divided into nine panes in a 3×3 arrangement. The source object appears in pane 6 of Image A and in pane 3 of Image B. Feature Processors 300 a, 300 b provide all column and row axis functions of Table I to object location processor 600 via data streams 310, 320, 330, 340, 350, 360, 370, 380 for pane 6 of Image A and for each pane of Image B. Object location processor 600 uses a product-of-differences calculation (Equation 1) to determine a Column Difference Coefficient D(c) and a second product-of-differences calculation (Equation 2) to determine a Row Difference Coefficient D(r). These column and Row Difference Coefficients are used in Equation 15 to determine Aggregate difference coefficients, D, for pane 6 of Image A and all 9 panes of Image B. Graph 997 of FIG. 7 plots the relative amplitude of the Aggregate Difference Coefficient calculated for Image A, pane 6 and each of the panes of Image B. This produces nine object location coefficients which are output in a data stream 610 of FIG. 1. The plot minimizes below a threshold value (set at 15.0 in this example) for pane 3. This indicates the source object from pane 6 of Image A was found in pane 3 of Image B.

[0080] It has been found that a system processor 900, provided with a hidden information detector 700, connected as illustrated in FIG. 1, is able to detect hidden information, such as, for instance, a watermark in the principal image. A suitable program 800 appears in FIG. 8 which will now be described.

[0081] Program 800 begins at step 801 and concludes at step 807. After program 800 has been initiated, it organizes the relevant image pixel data into segment streams (step 802). That involves the manipulation of a data stream 110 to generate streams such those produced by segment processors 200 a, 200 b. In fact, hidden information detector 700 could perform step 802 by simply reading the output signals from a segment processor 200, thereby avoiding the need to perform the calculations described above in connection with the discussion of FIG. 2.

[0082] Next, the computer performs step 803 where it calculates histogram representations (step 803) of any or all of the following data sets: (a) the column segment amplitudes, (b) the row segment amplitudes, (c) the column segment periods or (d) the row segment periods, at a user-selectable precision, for all rows and all columns in the image to be evaluated. Histograms may be used individually or their data may be combined. For example, the row segment amplitudes and column segment amplitudes may contribute to one histogram or two individual ones. We establish the following notation for associated histogram bin values:

B₁, B₂, . . . B_(n),

[0083] Where: B₁=the number of column segment amplitudes, row segment amplitudes, column segment periods or row segment periods whose value is 1

[0084] B₂=the number of column segment amplitudes, row segment amplitudes, column segment periods or row segment periods whose value is 2

[0085] B_(n)=the number of column segment amplitudes, row segment amplitudes, column segment periods or row segment periods whose value is n, and n is the highest possible value in the data set.

[0086] For example, consider a column or row segment amplitude histogram at a precision of 4 for an 8-bit digital image (whose segment amplitudes must be no less than 1 and no greater than 255). In this example, n would be 255 and the set of bin values would be B₁, through B₂₅₅ A precision of 4 means that all values are rounded up to the nearest integer multiple of 4 (1.3=4.0, 2.8=4.0, 4.7=8.0, 7.3=8.0, and so forth), and the number of amplitudes at each integer multiple of 4 are recorded as the contents of a histogram bin designated by that integer (B₄, B₈, etc.). At this precision setting of 4, only bins whose index is an integer multiple of 4 (B₄, B₈, etc.) will have values, and the rest (such as B₁, B₂, B₃, B₅, etc.) will be zero. This set of histogram values, at the selected precision setting is called the Theoretical Estimate of Fullness and Smoothness (TEFS). Other precision settings (i.e., other than 4) may be more optimal for certain image types or hidden information, and the precision setting of 4 discussed above is given for example's sake.

[0087] Similarly, program 800 calculates additional histogram representations for any or all of the column segment amplitudes, the row segment amplitudes, the column segment periods and the row segment periods, at a precision setting of 1. Histograms may be used individually or their data may be combined. For example, the row segment amplitudes and column segment amplitudes may contribute to one histogram or two individual ones. We establish the following notation for these histogram bin values:

B′₁, B′₂, . . . B′_(n),

[0088] Where: B′₁=the number of column segment amplitudes, row segment amplitudes, column segment periods or row segment periods whose value is 1

[0089] B′₂=the number of column segment amplitudes, row segment amplitudes, column segment periods or row segment periods whose value is 2

[0090] B′_(n)=the number of column segment amplitudes, row segment amplitudes column segment periods or row segment periods whose value is n, and n is the highest possible value in the data set.

[0091] For example, consider a segment amplitude histogram at a precision of 1 for an 8-bit digital image (whose segment amplitudes must be no less than 1 and no greater than 255). B′₁ is the histogram bin containing the number of segments whose value is 1, B′₂ is the histogram bin containing the number of segments whose value is 2, and so forth. Program 800 then calculates sums of all the bin values of this precision-level-1 histogram into bins corresponding to the TEFS bins which contain non-zero values. This set of histogram values is called the Measure of Fullness and Smoothness (MOFS). We establish the following notation for the MOFS bin values: $B_{x_{i}}^{''} = {\sum\limits_{i = {x - p + 1}}^{x}\quad B_{1}}$

[0092] Where: P=the precision of the TEFS histogram

[0093] For example, for a TEFS histogram with a precision of 4, the series of bins for the MOFS histogram would be:

B″₄, B″₈, etc. (a B″_(x) value for every B_(x) value in the TEFS histogram)

[0094] Where:

B″ ₄ =B′ ₁ +B′ ₂ +B′ ₃ +B′ ₄,

B″ ₈ =B′ ₅ +B′ ₆ +B′ ₇ +B′ ₈,

[0095] and so forth.

[0096] Next, for each non-zero populated value (B_(x), X=4, 8, etc.) of the TEFS set, program 800 performs the following error (E) calculation, which determines the absolute difference between the quotient of the MOFS and TEFS bin values and a value of 1.0 for each bin value occurrence:

E _(x)=|1.0−B″ _(x) /B _(x)|

[0097] Program 800 may, optionally, normalize each error value, E_(x). Whether or not normalization is done is selected by the user based on the type of imagery or hidden information being addressed by the technique. Program 800 normalizes each error value, E_(x) by multiplying it by the ratio of the sum of the TEFS set to the sum of the MOFS set: ${E_{x,n}({Normalized})} = \frac{\sum\limits_{i = 1}^{x}\quad B_{i}}{\sum\limits_{i = 1}^{x}\quad B_{i}^{''}}$

[0098] The program 800 then integrates (accumulates the sum) of the error values (normalized or not) as a difference integral curve, D, whose values (D_(x)) are: $D_{x} = {\sum\limits_{i = 1}^{x}\quad E_{i}}$

[0099] (errors not normalized) or $D_{x} = {\sum\limits_{i = 1}^{x}\quad E_{i,n}}$

[0100] (errors normalized)

[0101] Program 800 may create difference integral curves using any or all of the following data sets: (a) the column segment amplitudes, (b) the row segment amplitudes, (c) the column segment periods or (d) the row segment periods, using the processing described above.

[0102] Program 800 then compares the aforementioned difference integral curves to expected difference integral curves for images with hidden information. This produces a Closeness Coefficient (step 806) which is a measure of the difference between the difference integral curves for the digital image being interrogated and the expected integral curve. The Closeness Coefficient may be calculated using any curve comparison technique considered good engineering practice. For example:

[0103] 1. Differences between corresponding values for the two curves could be calculated then summed (difference technique).

[0104] 2. Differences between corresponding values for the two curves could be calculated, and their absolute values summed (absolute difference technique).

[0105] 3. Differences between corresponding values for the two curves could be calculated then squared, the squares summed, and the square root of the sum calculated (least-squares technique).

[0106] 4. Quotients of corresponding values for the two curves could be calculated then summed (quotient technique).

[0107] 5. The amount of scaling of the expected integral curve required to achieve the best fit to the difference integral curve could be recorded.

[0108] In typical application the numerical values of the Closeness Coefficient would indicate the presence or absence of hidden information in the image being interrogated. The typical application may be an analysis of two images, one of which is watermarked, (containing hidden information—the watermark) and the other which is unwatermarked (containing no hidden information); the images being otherwise identical. It is practical, using this invention, to apply dual histogram processing to obtain a combined histogram at a precision setting of 1 for the watermarked and unwatermarked images. The dual histogram processing may use combined column segment amplitudes and row segment amplitudes to create a TEFS histogram at a precision setting of 4, for both the watermarked and unwatermarked images. The dual histogram process may use combined column segment amplitudes and row segment amplitudes to create a histogram at a precision setting of 1 and then combining bin data for every four consecutive bins to create a MOFS histogram at a precision setting of 4 (corresponding to that of the TEFS histogram) for both the watermarked and unwatermarked images.

[0109] The process of detecting hidden information in a watermarked image may conclude with the production of error integral curves and then calculation of Closeness Coefficients for the watermarked and unwatermarked data. In an actual application of this example watermarked and unwatermarked images were successfully separated, using a threshold of 0.15; Closeness Coefficients below this threshold indicating the presence of hidden information.

[0110] While the forms of apparatus and the methods of operation herein described constitute preferred embodiments of this invention, it is to be understood that the invention is not limited to these precise embodiments, and that changes may be made therein without departing from the scope of the invention which is defined in the appended claims. 

What is claimed is:
 1. A method of characterizing an image, comprising the steps of: (1) generating a stream of digital information corresponding to a series of variations in said image; (2) organizing said stream of digital information into segment sets delimited by local maxima/minima of said variations; (3) generating a first axis function comprising mean values of digital information incorporated into said segments; (4) generating a second axis function comprising standard deviations of digital information incorporated into said segments; and (5) using said first axis function and said second axis function as characterization measures for said image.
 2. A method of characterizing an image according to claim 1, wherein said segment sets comprise segment amplitude sets for M columns of said image, segment period sets for M columns of said image, segment amplitude sets for N rows of said image and segment period sets for N rows of said image.
 3. A method of registering a second image with a first image comprising the steps of; (1) generating a first stream of digital information corresponding to a first series of variations in said first image; (2) generating a second stream of digital information corresponding to a second series of variations in said second image; (3) organizing said first stream of information into first segment sets delimited by local maxima/minima of said first series of variations in said first image; (4) organizing said second stream of information into second segment sets delimited by local maxima/minima of said second series of variations in said second image; (5) generating a first-axis function comprising mean values of digital information incorporated into said first segment sets; (6) generating a second axis function comprising mean values of digital information incorporated into said second segment sets; (7) generating a third axis function comprising standard deviations for the mean values of digital information incorporated into said first segment sets; (8) generating a fourth axis function comprising standard deviations for the mean values of digital information incorporated into said second segment sets; (9) generating a difference coefficient by comparing values of said first, second, third and fourth axis functions; and (10) using said difference-coefficient as a measure of accuracy for said registering.
 4. Apparatus for characterizing a digitized, two-dimensional, column/row image, said apparatus comprising: (a) a segment processor for segmenting said image into (1) sets of image amplitude data for pixels arranged along a column axis, (2) sets of image period data for pixels arranged along a column axis, (3) sets of image amplitude data for pixels arranged along a row axis, and (4) sets of image period data for pixels arranged along a row axis; and (b) a feature processor for calculating statistical properties of image data, segmented as aforesaid by said segment processor.
 5. Apparatus according to claim 4, said feature processor comprising means for calculating mean values and standard deviations of said image data.
 6. An automatic image characterization system comprising: (a) means for calculating image segment parameters; (b) means for calculating image axis functions based upon said image segment parameters; (c) means for determining registration of a reference image based upon said image axis functions; and (d) means for locating a target image based upon said registration of said reference image.
 7. The method of calculating column and row segment amplitudes and periods by treating each column and row of a two-dimensional array of image pixels as a signal-like data series.
 8. The method of calculating image column and row axis functions, comprising the steps of: (1) calculating the statistical means (averages) for a series of column segment amplitude sets (2) organizing said statistical means into a series as the column segment amplitude mean axis function; (3) calculating the statistical standard deviations for said column segment amplitude sets (4) organizing said standard deviations into a series as the column amplitude deviation axis function; (5) calculating the statistical means (averages) for said column segment period sets (6) organizing said statistical means into a series as the column period mean axis function; (7) calculating the statistical standard deviations for said column segment period sets (8) organizing said statistical standard deviations into a series as the column period deviation axis function; (9) calculating the statistical means (averages) for a series of row segment amplitude sets; (10) organizing said statistical means into a series as the row amplitude mean axis function; (11) calculating the statistical standard deviations for said row segment amplitude sets; (12) organizing said standard deviations into a series as the row amplitude deviation axis function; and (13) calculating the statistical means (averages) for said row segment period sets (14) organizing said statistical means into a series as the row period mean axis function; (15) calculating the statistical standard deviations for said column row segment period sets; and (16) organizing said statistical standard deviations into a series as the row period deviation axis function.
 9. The method of characterizing an M-column by N-row array of image pixels, said method comprising the steps of: (1) reading the amplitudes of said pixels; (2) assigning column and row indices to said amplitudes; (3) organizing said amplitudes into segment amplitude sets for M columns and N rows; (4) organizing segment period sets for M columns and N rows (5) calculating mean value sets for said segment amplitude sets; (6) calculating standard deviation sets for said mean value sets; and (7) using said mean value sets and said standard deviation sets to characterize said array of image pixels.
 10. The method of claim 9 wherein said mean value sets and said standard deviation sets are used to create difference integral curves, and said difference integral curves are used for calculating image registration errors.
 11. The method of claim 9 wherein registration errors are determined through calculation of difference coefficients D(c) and D(r) defined by the following equations: D(c)=[Ma(c,A)−Ma(c,B)][Da(c,A)−Da(c,B)][Mt(c,A)−Mt(c,B)][Dt(c,A)−Dt(c,B)]D(r)=[Ma(r,A)−Ma(r,B)][Da(r,A)−Da(r,B)][Mt(r,A)−Mt(r,B)][Dt(r,A)−Dt(r,B)] where: Ma(c,X)=Column amplitude mean axis function for image X, where “c” denotes a particular column Da(c,X)=Column amplitude deviation axis function for image X, where “c” denotes a particular column Mt(c,X)=Column period mean axis function for image X, where “c” denotes a particular column Dt(c,X)=Column period deviation axis function for image X, where “c” denotes a particular column Ma(r,X)=Row amplitude mean axis function for image X, where “r” denotes a particular row, Da(r,X)=Row amplitude deviation axis function for image X, where “r” denotes a particular row, Mt(r,X)=Row period mean axis function for image X, where “r” denotes a particular row, Dt(r,X)=Row period deviation axis function for image X, where “r” denotes a particular row.
 12. The method of claim 11 wherein the quantities in at least one of said bracketed expressions are converted to absolute values.
 13. The method of claim 11 wherein the Image A and Image B quantities of at least one of said axis functions are interchanged.
 14. The method of claim 11 wherein at least one of said bracketed quantities has a value of zero.
 15. The method of claim 11 wherein at least one of said axis functions is replaced by a normalized version thereof.
 16. The method of locating objects from a given image in other images by using a measure of a difference in an axis function.
 17. The method according to claim 16 wherein said measure of a difference is an aggregate difference coefficient established without use of row data.
 18. The method according to claim 16 wherein said measure of a difference is an aggregate difference coefficient established without use of column data.
 19. The method according to claim 16 wherein said measure of a difference is an aggregate difference coefficient established through the use of product data.
 20. The method according to claim 16 wherein said measure of a difference is an aggregate difference coefficient established through use of a weighted sum.
 21. The method of determining the presence of hidden information in an image by using measures of differences in segment amplitude and segment period data sets.
 22. The method of characterizing an image comprising the steps of: (1) generating a series of digital codes representing samples of image taken along a series of points therein, (2) calculating a plurality of mean values of said codes, (3) calculating standard deviations statistically relating said codes and said mean values, and (4) establishing an image characterization parameter based upon said mean values and said standard deviations.
 23. An image characterization system comprising: (a) An image source supplying M columns and N rows of digital information representing an image to be characterized, (b) a Segment Processor coupled to said image source for reorganizing said digital information into segment amplitude sets and segment period sets for said M columns and said N rows, and (c) a feature processor for characterizing said image by calculating mean values and standard deviations of data comprising said segment sets.
 24. Apparatus according to claim 23, further comprising a second said image source, a second said segment processor, a second said feature processor and means for calculating a coefficient indicating a difference between image data supplied by said image source and image data supplied by said second image source.
 25. A method for identifying a change of environment comprising the steps of: providing a first image of said environment; providing a second image of said environment; generating first digital information corresponding to a series of variations in said first image; generating second digital information corresponding to a series of variations in said second image; representing said first and second digital information with a plurality of functions; and using said plurality of functions to perform a comparison of said first image to said second image to detect said change of environment.
 26. The method as recited in claim 25 wherein said method further comprises the steps of: organizing said first digital information into first segment sets delimited by local maxima/minima of said first series of variations in said first image; organizing said second digital information into second segment sets delimited by local maxima/minima of said second series of variations in said second image.
 27. The method as recited in claim 26 wherein said method further comprises the steps of: generating first axis function comprising mean values of digital information incorporated into said first segment sets; and generating second axis function comprising mean values of digital information incorporated into said second segment sets.
 28. The method as recited in claim 27 wherein said method further comprises the steps of: generating a third axis function comprising standard deviations for the mean values of digital information incorporated into said first segment sets; and generating a fourth axis function comprising standard deviations for the mean values of digital information incorporated into said second segment sets.
 29. The method as recited in claim 27 wherein said method further comprises the steps of: generating a third axis function comprising standard deviations for the mean values of digital information incorporated into said first segment sets; and generating a fourth axis function comprising standard deviations for the mean values of digital information incorporated into said second segment sets.
 30. The method as recited in claim 27 wherein said method further comprises the steps of: generating a difference coefficient by comparing values of said first and second axis functions.
 31. The method as recited in claim 29 wherein said method further comprises the steps of: generating a difference coefficient by comparing values of said first, second, third and fourth axis functions.
 32. The method as recited in claim 31 wherein said using step further comprises the step of: using said difference coefficient as a measure of accuracy for said registering.
 33. A method for characterizing an image, said method comprising the steps of: providing first image pixel data for a first image; generating a first signal-like data series for said first image pixel data; and determining row and column segment amplitudes and periods for said first image using said first image data.
 34. The method as recited in claim 33 wherein said method further comprises the steps of: providing second image pixel data for a second image; generating a second signal-like data series for said second image pixel data; and determining row and column segment amplitudes and periods for said second image using said second image data.
 35. The method as recited in claim 34 wherein said method further comprises the steps of: using said first and second signal-like data series to perform a predetermined task.
 36. The method as recited in claim 35 wherein said predetermined task comprises the step of: determining an image registration.
 37. The method as recited in claim 35 wherein said predetermined task comprises the step of: determining changes between said first and second images.
 38. The method as recited in claim 35 wherein said predetermined task comprises the step of: locating an object in at least one of said first or second images.
 39. The method as recited in claim 35 wherein said predetermined task comprises the step of: locating an object in each of said first or second images.
 40. The method as recited in claim 35 wherein said predetermined task comprises the step of: determining a presence or absence of hidden information in at least one of said first or second images.
 41. The method as recited in claim 32 wherein said method further comprises the steps of: generating at least one function for each of said first and second images; and using each of said at least one function to determine variations between said first and second images.
 42. The method as recited in claim 39 wherein said method further comprises the step of: generating at least one axis function for each of said first and second images.
 43. The method as recited in claim 39 wherein said method further comprises the step of: generating at least one segment function for each of said first and second images.
 44. The method as recited in claim 42 wherein said method further comprises the step of: generating at least one segment function for each of said first and second images.
 45. The method as recited in claim 42 wherein said method further comprises the steps of: generating rows and columns of pixel data for each of said first and second images; and determining statistics to provide image properties for said first and second images.
 46. The method as recited in claim 45 wherein said method further comprises the steps of: determining amplitude and period means and standard deviations to provide said period statistics; and using said amplitude and period means and standard deviations to provide said image properties.
 47. The method as recited in claim 46 wherein said image properties comprises at least one of the following: registration, changes between said first and second images, presence or absence of hidden information, or locating an object in at least one of said images.
 48. An automatic image characterization system comprising: (a) means for calculating image segment parameters; (b) means for calculating image axis functions; (c) first means for determining image registration; (d) second means for determining changes between two images; (e) third means for locating an object from one image in another image; and (f) fourth means for determining the presence or absence of hidden information in images.
 49. The method of treating each row and column of image pixels as a signal-like data series, for the purpose of calculating row and column segment amplitudes and periods.
 50. The method of calculating image row and column axis functions, comprising the steps of: (a) calculating the statistical mean (average) for a column segment amplitude set and organizing these data into a series as the column amplitude mean axis function; (b) calculating the statistical standard deviation for each column segment amplitude set and organizing these data into a series as the column amplitude deviation axis function; (c) calculating the statistical mean (average) for each column segment period set and organizing these data into a series as the column period mean axis function; (d) calculating the statistical standard deviation for each column segment period set and organizing these data into a series as the column period deviation axis function; (e) calculating the statistical mean (average) for each row segment amplitude set and organizing these data into a series as the row amplitude mean axis function; (f) calculating the statistical standard deviation for each row segment amplitude set and organizing these data into a series as the row amplitude deviation axis function; (g) calculating the statistical mean (average) for each row segment period set and organizing these data into a series as the row period mean axis function; and (h) calculating the statistical standard deviation for each row segment period set and organizing these data into a series as the row period deviation axis function.
 51. The method of using measures of differences in axis functions for the purpose of calculating image registration errors.
 52. The method of using measures of differences in axis functions for the purpose of determining changes between images.
 53. The method of using measures of differences in axis functions for the purpose of locating objects from a given image in other images.
 54. The method of using measures of differences in segment amplitude and segment period data sets for the purpose of determining whether or not an image contains hidden information. 